CN115320712B

CN115320712B - Steering device for vehicle body

Info

Publication number: CN115320712B
Application number: CN202211014712.XA
Authority: CN
Inventors: 范会健; 李恩杰; 刘士堂; 李运航
Original assignee: Jerry Environmental Technology Co ltd
Current assignee: Yantai Jerui Mechanical Equipment Co ltd
Priority date: 2022-08-23
Filing date: 2022-08-23
Publication date: 2023-04-28
Anticipated expiration: 2042-08-23
Also published as: CN115320712A

Abstract

The application discloses a steering device of automobile body relates to and turns to the structure field. The steering device of the vehicle body comprises a first frame, a second frame and a connecting seat arranged between the first frame and the second frame, and the steering device comprises a power mechanism and a transmission mechanism; the transmission mechanism comprises a rotating piece and a transmission gear, the transmission gear is in transmission connection with the rotating piece, the rotating piece is in rotary connection with the connecting seat, the rotating piece is fixedly connected with the second frame, and the connecting seat is connected with the first frame; the power mechanism comprises a power gear which is meshed with the transmission gear. The problem that the safety and the reliability of vehicle operation cannot be guaranteed by the current steering mechanism can be solved.

Description

Steering device for vehicle body

Technical Field

The application belongs to the technical field of steering structures, and particularly relates to a steering device of a vehicle body.

Background

Along with the development of the sanitation equipment industry, various technical developments of the small road sweeper are more and more mature, particularly the unmanned road sweeper is gradually developed, and the steering system determines the safety and reliability of the vehicle, so that the basic requirements on the steering system are that the operation is stable and reliable, the steering precision is high, and the small road sweeper can realize high-efficiency operation.

At present, some road sweepers basically connect a front frame and a rear frame through a rotating shaft, and adopt a hydraulic cylinder as a power source to drive the front frame and the rear frame to turn, however, hydraulic driving can cause low steering precision, and a large number of unmanned control kits and various sensors are required to be matched for use, so that the complexity of operation judgment of a control system is increased, and the adjustment of the angle between the front frame and the rear frame cannot be responded quickly, so that the safety and the reliability of vehicle operation cannot be ensured.

Disclosure of Invention

The embodiment of the application aims to provide a steering device of a vehicle body, which can solve the problem that the safety and reliability of the operation of the vehicle cannot be ensured by the current steering mechanism.

In order to solve the technical problems, the application is realized as follows:

the embodiment of the application provides a steering device of a vehicle body, wherein the vehicle body comprises a first frame, a second frame and a connecting seat arranged between the first frame and the second frame, and the steering device comprises a power mechanism and a transmission mechanism;

the transmission mechanism comprises a rotating piece and a transmission gear, the transmission gear is in transmission connection with the rotating piece, the rotating piece is in rotary connection with the connecting seat, the rotating piece is fixedly connected with the second frame, and the connecting seat is connected with the first frame;

the power mechanism comprises a power gear which is meshed with the transmission gear.

In the embodiment of the application, the motion and power output by the power mechanism can be transmitted to the second frame through the transmission mechanism, so that the second frame swings relative to the connecting seat and the first frame, and the steering of the vehicle body is realized; the transmission mechanism comprises a rotating piece and a transmission gear, so that the rotating piece drives the second frame to rotate around the rotating axis of the rotating piece, and the steering of the vehicle body is realized through the rotation of the second frame. Compared with the traditional steering mode of rotating shaft connection and hydraulic oil cylinder driving, the steering device of the vehicle body in the embodiment of the application has high transmission efficiency and small steering angle error, so that the vehicle body and the whole vehicle steer more stably, and the steering flexibility is improved; the hydraulic pipeline is omitted, and the hydraulic pipeline has important significance for improving the safety, maintainability and flexibility of the vehicle body; in addition, the steering device of the vehicle body in the embodiment of the application does not have a large number of unmanned control kits and a plurality of sensors to be matched for use, so that the installation is simple, and the structure is reliable.

Drawings

Fig. 1 is a schematic view of the overall structure of a vehicle body disclosed in an embodiment of the present application;

fig. 2 is a first schematic structural view of a driving mechanism, a transmission mechanism, a connecting seat and the like disclosed in the embodiment of the present application;

fig. 3 is a second schematic structural view of the driving mechanism, the transmission mechanism, the connecting seat and other structures disclosed in the embodiment of the present application;

fig. 4 is a schematic structural diagram of a connection seat disclosed in an embodiment of the present application;

FIG. 5 is a schematic view of a driving mechanism, a transmission mechanism, and a second frame part according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a power gear, a transmission gear and a gear ring in a meshed configuration according to an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a power gear, a transmission gear, a gear ring structure and a rotating carrier according to an embodiment of the present disclosure;

fig. 8 is a schematic diagram of a structure in which a power gear and a transmission gear are meshed according to an embodiment of the present application.

Reference numerals illustrate:

100-a first frame; 110-a concave frame; 111-a rotation space; 112-fourth mounting holes;

200-a second frame; 210-a second mounting hole;

300-connecting seats; 310-ring gear structure; 320-a first limiting structure; 330-a second limiting structure; 331-first mounting holes; 340-accommodation space; 350-a first mounting structure; 351-a third mounting hole; 360-a second mounting structure;

400-steering means; 410-a power mechanism; 411-power gear; 412-a servo motor; 413-planetary gear reducer; 420-a transmission mechanism; 421-rotating rack; 4211-a first coupling shaft; 4212-connecting arms; 4213-a second coupling; 4214-a sleeve; 422-a drive gear; 430-a third coupling;

500-limiting devices;

600-angle detection device.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The embodiments of the present application will be described in detail below with reference to the accompanying drawings by means of specific embodiments and application scenarios thereof.

Referring to fig. 1 to 8, a steering device 400 of a vehicle body is disclosed in an embodiment of the present application, and is used for realizing steering of the vehicle body, where the vehicle body may be a vehicle body of environmental sanitation equipment, including a vehicle body such as an environmental sanitation vehicle, a sweeper, a sprinkler, and the like.

As shown in fig. 1, the vehicle body includes a first frame 100, a second frame 200, and a connection seat 300, wherein the connection seat 300 is disposed between the first frame 100 and the second frame 200, and the first frame 100 and the second frame 200 can be connected together through the structure of the connection seat 300, and meanwhile, the first frame 100 and the second frame 200 can be rotated relatively, so as to facilitate the steering of the vehicle body.

Alternatively, the connection base 300 may be connected to the first vehicle frame 100, including a fixed connection or a movable connection, and may be specifically selected according to the actual situation. In addition, the connection base 300 may be directly rotatably connected to the second frame 200, or may be rotatably connected to the second frame 200 by other components, as will be described in detail below.

As shown in fig. 2 and 3, the steering device 400 includes a power mechanism 410 and a transmission mechanism 420, wherein the power mechanism 410 is configured to output power to enable relative rotation between the first frame 100 and the second frame 200 under the driving action of the power mechanism 410, thereby enabling steering of the vehicle body; the transmission mechanism 420 is used for transmitting the power output by the power mechanism 410 to the second frame 200 so as to rotate the second frame 200.

It should be noted that, the connection base 300 may also be connected to the second frame 200, and the connection base 300 is rotatably connected to the first frame 100, so that the first frame 100 and the second frame 200 can also rotate relatively, and thus the steering of the vehicle body can also be achieved.

The transmission mechanism 420 includes a rotating member and a transmission gear 422, the transmission gear 422 is in transmission connection with the rotating member, the rotating member is in rotational connection with the connecting seat 300, the rotating member is fixedly connected with the second frame 200, the connecting seat 300 is connected to the first frame 100, the power mechanism 410 includes a power gear 411, and the power gear 411 is meshed with the transmission gear 422.

In this embodiment, the transmission mechanism 420 may transmit the motion and power output by the power mechanism 410 to the second frame 200, so that the second frame 200 swings relative to the connecting seat 300 and the first frame 100, thereby realizing the steering of the vehicle body; the transmission mechanism 420 includes a rotating member and a transmission gear 422, so that the second frame 200 is driven by the rotating member to rotate around the rotation axis of the rotating member, so as to realize steering of the vehicle body through rotation of the second frame 200.

Compared with the traditional steering mode of rotating shaft connection and hydraulic oil cylinder driving, the steering device 400 of the vehicle body in the embodiment of the application has high transmission efficiency and small steering angle error, so that the vehicle body and the whole vehicle steer more stably, and the steering flexibility is improved; the hydraulic pipeline is omitted, and the hydraulic pipeline has important significance for improving the safety, maintainability and flexibility of the vehicle body; in addition, the steering device 400 of the vehicle body in the embodiment of the application does not have a large number of unmanned control kits and a plurality of sensors to be matched for use, so that the installation is simple, and the structure is reliable.

Referring to fig. 5 to 7, in some embodiments, the transmission mechanism 420 may include a rotating frame 421 as a rotating member and a plurality of transmission gears 422, the plurality of transmission gears 422 are disposed on the rotating frame 421 around a rotation axis of the rotating frame 421, and each transmission gear 422 is rotatable with respect to the rotating frame 421, and the rotating frame 421 is rotatably connected with the connection base 300 and fixedly connected with the second frame 200. Based on this, the second frame 200 and the connection base 300 can be connected together by the rotating frame 421, and the relative rotation between the second frame 200 and the connection base 300 can be realized, so that when the second frame 200 rotates relative to the connection base 300, the angle between the second frame 200 and the first frame 100 can be adjusted, thereby realizing the steering of the vehicle body. In addition, the rotating frame 421 may also provide a mounting basis for a plurality of transmission gears 422 such that each transmission gear 422 is rotatably mounted to the rotating frame 421, respectively.

In order to limit and mount the plurality of transmission gears 422, the connecting seat 300 is provided with a gear ring structure 310, and as shown in fig. 6, the plurality of transmission gears 422 are engaged with the gear ring structure 310. Alternatively, the ring gear structure 310 may be an inner ring gear structure 310, and may also be an outer ring gear structure 310.

Further, the power mechanism 410 includes a power gear 411, and the power gear 411 is engaged with a plurality of transmission gears 422, respectively.

Based on the above arrangement, the plurality of transmission gears 422 can be limited between the power gear 411 and the gear ring structure 310 through the power gear 411 and the gear ring structure 310, so as to prevent the transmission gears 422 from moving randomly, meanwhile, when the power gear 411 rotates, the plurality of transmission gears 422 can be simultaneously driven to revolve around the gear ring structure 310, and meanwhile, each transmission gear 422 can also rotate, so that the rotating frame 421 can rotate under the driving of the plurality of transmission gears 422, and finally the second frame 200 is driven to rotate through the rotating frame 421, so as to realize the steering of the vehicle body.

When the gear ring structure 310 is an inner gear ring structure, the plurality of transmission gears 422 are engaged with the inner teeth of the inner gear ring structure, and the plurality of transmission gears 422 surround the outer side of the power gear 411 and are engaged with the outer teeth of the power gear 411, respectively, so as to realize the transmission of power and motion in a gear engagement manner.

When the gear ring structure 310 is an external gear ring structure, the plurality of transmission gears 422 are meshed with external teeth of the external gear ring structure, and the power gear 411 is provided with internal teeth, and the plurality of transmission gears 422 are respectively meshed with the internal teeth of the power gear 411, so that the transmission of power and motion can be realized in a gear meshing manner.

In this embodiment, the transmission mechanism 420 may transmit the motion and power output by the power mechanism 410 to the second frame 200, so that the second frame 200 swings relative to the connecting seat 300 and the first frame 100, thereby realizing the steering of the vehicle body; the transmission mechanism 420 includes a rotating frame 421 and a plurality of transmission gears 422, and a plurality of transmission gears are engaged and connected between the power gear 411 and the gear ring structure 310, so that under the driving action of the power gear 411 and the limiting action of the gear ring structure 310, the plurality of transmission gears 422 both rotate around respective axes and revolve around the gear ring structure 310, and at the same time, the plurality of transmission gears 422 drive the rotating frame 421 to rotate when revolving, so that the rotating frame 421 drives the second frame 200 to rotate around the rotation axis of the rotating frame 421, and the steering of the vehicle body is realized through the rotation of the second frame 200.

Referring to fig. 7, in some embodiments, the rotating frame 421 includes a first connecting shaft 4211, a plurality of connecting arms 4212 and a plurality of second connecting shafts 4213, wherein the plurality of connecting arms 4212 are distributed around the first connecting shaft 421, the plurality of connecting arms 4212 are fixedly connected with the first connecting shaft 4211, the plurality of second connecting shafts 4213 are disposed on the plurality of connecting arms 4212 in a one-to-one correspondence, the axes of the plurality of second connecting shafts 4213 are parallel to the axes of the first connecting shafts 4211, the plurality of transmission gears 422 are disposed on the plurality of second connecting shafts 4213 in a one-to-one correspondence and rotatably connected with the connecting base 300. Based on this, the rotational connection between the connection base 300 and the second frame 200 can be achieved through the first connection shaft 4211, and the second frame 200 can be rotated about the axis of the first connection shaft 421, thereby achieving the relative rotation between the second frame 200 and the front of the connection base 300, and the connection base 300 is connected to the first frame 100, so that the relative rotation between the second frame 200 and the first frame 100 can be achieved, so that the steering of the vehicle body can be achieved.

With continued reference to fig. 7, in order to mount the plurality of transmission gears 422, the plurality of connecting arms 4212 are respectively and correspondingly mounted with the second connecting shafts 4213, and the plurality of transmission gears 422 are correspondingly sleeved on the plurality of second connecting shafts 4213, and can realize rotation around the axis of the second connecting shafts 4213 so as to transmit power.

Based on the above arrangement, under the driving action of the power gear 411, the plurality of transmission gears 422 can revolve around the axis of the first connecting shaft 4211 and rotate around the axis of each second connecting shaft 4213, so that the output rotation speed can be reduced, the torque can be improved, and a larger steering acting force can be output, so that the vehicle body can be steered with high efficiency and high precision.

In order to connect the second frame 200 to the connection seat 300, in some embodiments, the connection seat 300 is provided with a first limiting structure 320 and a second limiting structure 330, as shown in fig. 4, where the first limiting structure 320 and the second limiting structure 330 are spaced apart from each other, and an accommodating space 340 is formed between the first limiting structure 320 and the second limiting structure 330, and at least a portion of the second frame 200 is located in the accommodating space 340. Based on this, a space can be provided for the installation of the second frame 200 through the receiving space 340, and the first and second

limiting structures

320 and 330 can limit the second frame 200 from both sides to prevent the second frame 200 from moving in the up-down direction with respect to the connection base 300, thereby ensuring the stability of the installation between the second frame 200 and the connection base 300. Alternatively, the first limiting structure 320 and the second limiting structure 330 may be limiting plates, and of course, other structures are also possible, which are not limited in this embodiment of the present application.

The gear ring structure 310 is disposed on the first limiting structure 320, and the gear ring structure 310 axially penetrates through the first limiting structure 320 along the gear ring structure 310, so that the plurality of transmission gears 422 can penetrate into the gear ring structure 310.

To realize the rotational connection between the rotating frame 421 and the connecting seat 300, the second limiting structure 330 is provided with a first mounting hole 331, and the axis of the first mounting hole 331 is collinear with the axis of the gear ring structure 310; the second frame 200 is provided with a second mounting hole 210, the first connecting shaft 4211 passes through the second mounting hole 210 and is relatively fixed to the second frame 200, and the first connecting shaft 4211 passes through the first mounting hole 331 and is rotatable in the first mounting hole 331. Based on this, the first connecting shaft 4211 may be fixed in the second mounting hole 210, so that the first connecting shaft 4211 may drive the second frame 200 to rotate around the axis of the first connecting shaft 4211, and at the same time, the first connecting shaft 4211 may be rotatable in the first mounting hole 331, so that, on one hand, the second frame 200 may be connected to the connecting seat 300 through the first connecting shaft 4211, and on the other hand, the second frame 200 may also be rotated relative to the connecting seat 300, so as to achieve steering of the vehicle body.

To achieve the relative fixation of the second frame 200 and the rotating frame 421, in some embodiments, a sleeve 4214 is disposed between the first connecting shaft 4211 and the second mounting hole 210, and an outer wall of the first connecting shaft 4211 is in interference fit with an inner wall of the sleeve 4214, and an outer wall of the sleeve 4214 is in interference fit with an inner wall of the second mounting hole 210. Based on this, tight connection between the first link 4211 and the second mounting hole 210 may be achieved by the sleeve 4214 to prevent the first link 4211 from relatively rotating with the second frame 200 to affect high-precision steering. In the above manner of interference fit, on the one hand, the transmission can be achieved by a tight fit, and on the other hand, the first coupling shaft 4211 can be detached from the second mounting hole 210 when repair or maintenance is required, so as to facilitate repair or maintenance. Alternatively, the sleeve may be a copper sleeve, an alloy sleeve, or the like, and the specific material is not limited.

In other embodiments, the first axle 4211 may also be welded into the second mounting hole 210, which may ensure stability and reliability of the transmission between the first axle 4211 and the second frame 200.

Referring to fig. 8, in other embodiments, the transmission mechanism 420 may include a transmission shaft as a rotating member and a transmission gear 422, where the transmission gear 422 is sleeved on one end of the transmission shaft and a key connection is used between the transmission gear and the transmission shaft. In addition, the transmission shaft is rotatably connected with the connection seat 300 and fixedly connected with the second frame 200. Based on this, the motion and power output from the power gear 411 may be transmitted to the driving shaft through the driving gear 422, causing the driving shaft to rotate with respect to the connection base 300, and driving the second frame 200 to rotate through the driving shaft, to achieve the steering of the vehicle body.

Further, the connection seat 300 may include a first limiting structure 320 and a second limiting structure 330 spaced from each other, an accommodating space 340 is formed between the first limiting structure 320 and the second limiting structure 330, the second frame 200 is at least partially disposed in the accommodating space 340, the first limiting structure 320 and the second limiting structure 330 may each be provided with a first mounting hole 331, the two first mounting holes 331 are coaxial, a transmission shaft is rotatably disposed in the first mounting holes 331 of the first limiting structure 320 and the second limiting structure 330, and the transmission shaft passes through the second mounting hole 210 of the second frame 200 and is fixed relative to the second frame 200 so as to drive the second frame 200 to rotate.

Further, a sleeve 4214 is disposed between the transmission shaft and the second mounting hole 210, the outer wall of the transmission shaft is in interference fit with the inner wall of the sleeve 4214, and the outer wall of the sleeve 4214 is in interference fit with the inner wall of the second mounting hole 210, so that the relative fixation of the transmission shaft and the second frame 200 is realized.

When the vehicle body walks on the rugged road surface, in order to reduce the whole inclination and shaking amplitude of the vehicle body, the first vehicle frame 100 and the second vehicle frame 200 can swing relatively, so that the first vehicle frame 100 and the second vehicle frame 200 can be respectively adapted to the road surface without the occurrence of inclination or shaking of the whole vehicle body in a larger range, and the stability of the vehicle body can be improved to a certain extent.

Referring to fig. 2 to 4, in some embodiments, the first frame 100 and the connection base 300 are rotatably connected by a third connecting shaft 430, and an axial direction of the third connecting shaft 430 is parallel to an arrangement direction of the first frame 100 and the second frame 200. Here, the first frame 100 and the second frame 200 may be disposed along the front-rear direction, and at this time, the third connecting shaft 430 extends along the front-rear direction, and the first frame 100 and the second frame 200 may rotate around the third connecting shaft 430, so that the vehicle body may not have large tilting and shaking when walking on the uneven road surface, thereby ensuring the stability of the vehicle body.

Referring to fig. 2 and 3, in order to prevent the relative swing angle between the first frame 100 and the second frame 200 from being too large, in some embodiments, the vehicle body may further include a limiting device 500, where the limiting device 500 is disposed between the connection seat 300 and the first frame 100, for limiting the relative rotation angle between the first frame 100 and the connection seat 300. Based on this, in the case where the vehicle body walks on the uneven road surface, the first frame 100 and the second frame 200 each shake to a different extent, thereby swinging the first frame 100 about the third connecting shaft 430 with respect to the connecting base 300; when the relative swing amplitude is too large, the limiting device 500 can prevent the first frame 100 from swinging relative to the connecting seat 300, so that the first frame and the connecting seat swing within a smaller angle range, and the phenomenon that the vehicle body turns over due to the too large swing angle can be prevented, so that the stability of the vehicle body is ensured.

Further, a concave frame 110 is provided at one end of the first frame 100 adjacent to the second frame 200, at least a portion of the connection seat 300 is provided in the concave frame 110, and a rotation space 111 is provided between the connection seat 300 and an inner wall of the concave frame 110, so that the connection seat 300 can rotate relative to the concave frame 110 in the rotation space 111, so as to adapt the vehicle body to an uneven road surface.

In some embodiments, the limiting device 500 is disposed in one of the connection base 300 and the concave frame 110 and is located in the rotation space 111, and a rotation gap is formed between the limiting device 500 and the other of the connection base 300 and the concave frame 110. Based on this, since the rotation gap is provided, the connection seat 300 can swing a certain angle with respect to the concave frame 110 in the rotation space 111, and when the limiting device 500 contacts with the connection seat 300 or the concave frame 110, the two are limited to continue to swing relatively, so that the connection seat 300 and the first frame 100 can be ensured to swing at a small angle, the vehicle body can be adapted to an uneven road surface, and the overall stability of the vehicle body can be ensured.

Referring to fig. 3, in some embodiments, the connection base 300 is provided with a first mounting structure 350 and a second mounting structure 360 which are disposed at intervals, so that a recess portion can be formed between the two, the recess portion corresponds to the rotation space 111 of the concave frame 110, and the connection base 300 and the concave frame 110 can be fastened to each other with a gap left therebetween, so that the two can swing relatively.

Referring to fig. 3 and 4, further, the first and second mounting

structures

350 and 360 are each provided with a third mounting hole 351, and accordingly, the female frame 110 is provided with a fourth mounting hole 112, at least a portion of the female frame 110 is disposed between the first and second mounting

structures

350 and 360 when mounted, and the third coupling shaft 430 is penetrated into the fourth and third mounting

holes

112 and 351. In this way, the connecting seat 300 and the concave frame 110 can be connected together by the third connecting shaft 430, and the connecting seat 300 and the concave frame 110 can swing relatively, so that the adaptability of the vehicle body to the rugged road surface and the walking stability can be improved.

In order to avoid damage to components caused by rigid contact between the limiting device 500 and the side walls of the connecting seat 300 or the concave frame 110, in some embodiments, the limiting device 500 may include two deformable columns respectively disposed on two sides (may be left and right sides, etc.) of the connecting seat 300, and the two deformable columns are respectively disposed opposite to the two side walls of the concave frame 110. Based on this, can carry out spacingly in the both sides of connecting seat 300 through two deformable cylinders, and play the cushioning effect to both can restrict the relative swing range between connecting seat 300 and the first frame 100, can effectively avoid the rigidity touching again, and then, under the circumstances of guaranteeing automobile body stability, prolonged the life of spare part.

Referring to fig. 2, in order to achieve detection of the relative angle between the first frame 100 and the second frame 200, in some embodiments, the vehicle body may further include an angle detection device 600, where the angle detection device 600 is disposed on the connection base 300 or the second frame 200 to detect the relative rotation angle between the second frame 200 and the connection base 300, so as to obtain the relative rotation angle between the second frame 200 and the first frame 100. Alternatively, the angle detection device 600 may be an angle sensor or the like. The relative rotation angle between the connecting seat 300 and the second frame 200 can be detected in real time through the angle detection device 600 to determine the steering degree of the vehicle body, thereby laying a foundation for automatic steering, and the adoption of the angle detection device 600 to read data information is stable, and a large amount of data transportation processing is not required, so that the steering stability and reliability of the vehicle body can be improved to a certain extent.

Further, the angle detection device 600 and the power mechanism 410 are both connected to a control device of the vehicle body in a signal manner. Based on this, the detected relative angle information between the second frame 200 and the connection base 300 is transmitted to the control device through the angle detection device 600, and the position state of the second frame 200 is obtained after analysis by the control device, so that the position information of the second frame 200 is provided for steering. The control device may control the power mechanism 410 to start according to the preset steering angle information and the position information of the second frame 200, so as to drive the second frame 200 and the first frame 100 to rotate relatively through the power mechanism 410, thereby adjusting the relative angle between the second frame 200 and the first frame 100, and finally enabling the relative angle information between the second frame 200 and the first frame 100 to be consistent with the preset steering angle information, so as to realize high-precision steering control.

It should be noted that, the control principle of the relative angle between the second frame 200 and the first frame 100 may refer to the related art, and will not be described in detail herein.

Referring to fig. 3 and 5, in some embodiments, the power mechanism 410 may include a servo motor 412 and a planetary gear reducer 413, wherein an output shaft of the servo motor 412 is drivingly connected to an input shaft of the planetary gear reducer 413, and an output shaft of the planetary gear reducer 413 is drivingly connected to the power gear 411. In this way, under the driving action of the servo motor 412, the power and the motion are transmitted to the power gear 411 after the speed and the torque are reduced and increased through the planetary gear reducer 413, so that the power gear 411 can rotate at a low rotation speed and a large torque, on one hand, the stability and the reliability of the steering of the vehicle body can be ensured, and on the other hand, the smoothness of the steering of the vehicle body can be ensured; meanwhile, the steering accuracy of the vehicle body can be improved by using the servo motor 412 as a power source.

The specific working principle of the steering device 400 of the vehicle body in the embodiment of the application is as follows:

when the steering device 400 receives the steering control signal sent by the control device, the servo motor 412 is started to drive the planetary gear reducer 413 to rotate, the planetary gear reducer 413 drives the power gear 411 to rotate, the power gear 411 drives the transmission gear 422 to rotate, the transmission gear 422 drives the rotating member to rotate, and the rotating member drives the second frame 200 to rotate, so that the steering of the vehicle body is realized.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.

Claims

1. A steering device of a vehicle body, characterized in that the vehicle body comprises a first frame (100), a second frame (200) and a connecting seat (300) arranged between the first frame (100) and the second frame (200), and the steering device (400) comprises a power mechanism (410) and a transmission mechanism (420);

the transmission mechanism (420) comprises a rotating piece and a transmission gear (422), the transmission gear (422) is in transmission connection with the rotating piece, the rotating piece is in rotary connection with the connecting seat (300), the rotating piece is fixedly connected with the second frame (200), and the connecting seat (300) is connected with the first frame (100);

the power mechanism (410) comprises a power gear (411), and the power gear (411) is meshed with the transmission gear (422);

the first frame (100) and the connecting seat (300) are rotatably connected through a third connecting shaft (430), and the axial direction of the third connecting shaft (430) is parallel to the arrangement direction of the first frame (100) and the second frame (200);

a concave frame (110) is arranged at one end, adjacent to the second frame (200), of the first frame (100), the concave frame (110) comprises a first limiting wall and a second limiting wall which are arranged at intervals along the left-right direction of the vehicle body, and a supporting wall which is connected with the first limiting wall and the second limiting wall, and the first limiting wall, the supporting wall and the second limiting wall enclose a first avoiding space, wherein the left-right direction and the arrangement direction of the first frame (100) and the second frame (200) are perpendicular;

the connecting seat (300) comprises a first mounting structure (350) and a second mounting structure (360) which are arranged at intervals along the front-back direction of the vehicle body, and a connecting structure for connecting the first mounting structure (350) and the second mounting structure (360), wherein the first mounting structure (350), the second mounting structure (360) and the connecting structure enclose a second avoidance space, and the front-back direction and the arrangement direction of the first vehicle frame (100) and the second vehicle frame (200) are parallel;

the supporting wall is positioned in the second avoidance space, the connecting structure is positioned in the first avoidance space, and a rotation space is respectively formed among the connecting structure, the first limiting wall and the second limiting wall;

the first mounting structure (350) and the second mounting structure (360) are respectively provided with a third mounting hole (351), the supporting wall is provided with a fourth mounting hole (112), and the third connecting shaft (430) is arranged in the fourth mounting hole (112) and the third mounting hole (351) in a penetrating mode.

2. The steering device of a vehicle body according to claim 1, characterized in that the transmission mechanism (420) includes a rotating frame (421) as the rotating member and a plurality of the transmission gears (422), the plurality of transmission gears (422) are provided to the rotating frame (421) around a rotation axis of the rotating frame (421), and each of the transmission gears (422) is rotatable with respect to the rotating frame (421);

the connecting seat (300) is provided with a gear ring structure (310), and a plurality of transmission gears (422) are meshed with the gear ring structure (310);

the power gear 411 is engaged with the plurality of transmission gears 422, respectively.

3. The steering device of a vehicle body according to claim 2, wherein the rotating frame (421) includes a first connecting shaft (4211), a plurality of connecting arms (4212), and a plurality of second connecting shafts (4213);

the plurality of connecting arms (4212) are distributed around the first connecting shaft (4211) and are fixedly connected with the first connecting shaft (4211), the plurality of second connecting shafts (4213) are arranged on the plurality of connecting arms (4212) in a one-to-one correspondence manner, and the axes of the plurality of second connecting shafts (4213) are parallel to the axis of the first connecting shaft (4211);

the plurality of transmission gears (422) are in one-to-one correspondence and are rotatably arranged on the plurality of second connecting shafts (4213);

the first connecting shaft (4211) is rotationally connected with the connecting seat (300).

4. A steering device for a vehicle body according to claim 3, characterized in that the connection seat (300) is provided with a first limit structure (320) and a second limit structure (330) spaced apart from each other, an accommodation space (340) being formed between the first limit structure (320) and the second limit structure (330), at least part of the second frame (200) being located in the accommodation space (340);

the gear ring structure (310) is arranged on the first limiting structure (320);

the second limiting structure (330) is provided with a first mounting hole (331), and the axis of the first mounting hole (331) is collinear with the axis of the gear ring structure (310);

the second frame (200) is provided with a second mounting hole (210), the first connecting shaft (4211) penetrates through the second mounting hole (210) and is fixed relative to the second frame (200), and the first connecting shaft (4211) penetrates through the first mounting hole (331) and is rotatable in the first mounting hole (331).

5. The steering device of a vehicle body according to claim 4, characterized in that a sleeve (4214) is provided between the first connecting shaft (4211) and the second mounting hole (210);

the outer wall of the first connecting shaft (4211) is in interference fit with the inner wall of the sleeve (4214), and the outer wall of the sleeve (4214) is in interference fit with the inner wall of the second mounting hole (210).

6. The steering device of a vehicle body according to claim 1, wherein said transmission mechanism (420) includes a transmission shaft as said rotating member and one of said transmission gears (422);

the transmission gear (422) is sleeved at one end of the transmission shaft, and the transmission gear and the transmission shaft are connected through keys.

7. The steering device of a vehicle body according to claim 1, further comprising a limiting device (500), the limiting device (500) being arranged between the connection seat (300) and the first frame (100) for limiting a relative rotation angle between the first frame (100) and the connection seat (300).

8. The steering device of a vehicle body according to claim 7, wherein the limiting device (500) is disposed in one of the connection base (300) and the concave frame (110) and is located in the rotation space (111), and a rotation gap is formed between the limiting device (500) and the other of the connection base (300) and the concave frame (110).

9. The steering device of a vehicle body according to claim 7 or 8, characterized in that the limiting device (500) comprises two deformable cylinders, which are respectively arranged on both sides of the connection seat (300), and which are respectively arranged opposite to both side walls of the concave frame (110).

10. The steering device of a vehicle body according to claim 1, characterized in that the vehicle body further comprises an angle detection device (600);

the angle detection device (600) is arranged on the connecting seat (300) or the second frame (200) to detect the relative rotation angle between the second frame (200) and the connecting seat (300);

the angle detection device (600) and the power mechanism (410) are connected with a control device of the vehicle body in a signal mode.

11. The steering device of a vehicle body according to claim 1 or 10, characterized in that the power mechanism (410) further includes a servo motor (412) and a planetary gear reducer (413);

an output shaft of the servo motor (412) is in transmission connection with an input shaft of the planetary gear reducer (413), and an output shaft of the planetary gear reducer (413) is in transmission connection with the power gear (411).